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Optimal control at energy performance index of the mobile robots following dynamically created trajectories
PublikacjaIn practice, the problem of motion control of the wheeled mobile robots is often neglected. Wheeled mobile robots are strongly nonlinear systems and restricted by non-holonomic constraints. Motion control of such systems is not trivial task and usage of non-optimal control signals can lead to deterioration of the overall robot system’s performance. In case of autonomous application of the mobile robots all parts of its control...
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Energy efficient beam control for 5G antennas
PublikacjaThe rapid development of 5G and beyond systems demands improvement in communication speed, latency and safety to maintain the required quality of service. This paper presents an overview of different concepts of energy-efficient antenna systems, which offer beam-shaping and beam-steering functionalities, that enhance connectivity performance and can be used in 5G applications. Different designs for 5.9 GHz, 39 GHz and 60 GHz frequency...
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Nonlinear model of a synchronous generator for analysis of more electric aircraft power systems
PublikacjaA nonlinear model for studying a variable-speed synchronous generator (SG) in more electric aircraft (MEA) power system has been developed. The saturation effects of the SG magnetic circuit have been considered. The model has been implemented in the Synopys/Saber simulation environment. The modelling language MAST has been used to elaborate the SG model. The model exhibit a network with the same number of external terminals/ports...
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Gesture-based computer control system applied to the interactive whiteboard
PublikacjaIn the paper the gesture-based computer control system coupled with the dedicated touchless interactive whiteboard is presented. The system engineered enables a user to control any top-most computer application by using one or both hands gestures. First, a review of gesture recognition applications with a focus on methods and algorithms applied is given. Hardware and software solution of the system consisting of a PC, camera, multimedia...
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Gesture-based computer control system applied to the interactive whiteboard
PublikacjaIn the paper the gesture-based computer control system coupled with the dedicated touchless interactive whiteboard is presented. The system engineered enables a user to control any top-most computer application by using one or both hands gestures. First, a review of gesture recognition applications with a focus on methods and algorithms applied is given. Hardware and software solution of the system consisting of a PC, camera, multimedia...
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Possibility to use engine compression ignition engines in floating power plants marine
PublikacjaCompression-ignition engines used in ship technology as main propulsion engines are large units reaching even to 50-60 MW. The engines can be used in power industry for electricity generation in a simple or combined steam turbine system in combined heat and power plants. The leading engine in such an arrangement is an internal-combustion piston engine. The main propulsion engines are used in large piston internal-combustion engines...
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Analysis of an Energy Management System of a Small Plant Connected to the Rural Power System
PublikacjaThis paper presents the analysis of an energy management system (EMS) implemented to fulfill the requirements of a microgrid (MG) power supply owned by a small industrial company and connected to the rural power system. The main goal of this system is to ensure connection with the existing rural power system in terms of energy exchange, as well as to perform islanding mode operation of the microgrid based on the energy demand of...
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Improving Control Dynamics of PMSM Drive by Estimating Zero-Delay Current Value
PublikacjaDynamic performance of current control loop still remains crucial for position-, speed-, and torque-controlled drives. In the study, a current loop solution has been designed for field oriented control of permanent magnet synchronous motors (PMSM). It enhances typical PI controller with an estimator of zero-delay current (ZDC) value. The ZDC estimation allows for selecting substantially higher controller gain. It reduces control...
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Multi-DBD actuator with floating interelectrode for aerodynamic control
PublikacjaIn this paper the use of a floating inter-electrode in a multi-DBD (dielectric barrier discharge) plasma actuator is described. The multi-DBD plasma actuators with floating inter-electrodes were investigated to get a longer DBD on a dielectric surface and to maximise generated net airflow. Our actuator was used to control the boundary layer flow separation around NACA0012 airfoil model. The results of our investigations suggests...
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Supervised Model Reference Adaptive Control of Chlorine Residuals in Water Distribution Systems
PublikacjaControl of integrated quality and quantity in Drinking Water Distribution Systems within recently proposed hierarchical framework is considered in the paper. A supervised nonlinear Indirect Model Reference Adaptive Controller is derived for the lower control level of the control structure to operate as the fast feedback controller of chlorine residuals in the monitored nodes. The major supervisor role is to manage switching between...
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The concept of a new two-stage fuse for high power pulse forming
PublikacjaThis manuscript introduces the concept, physical operating principle and studies on a new and unique two stage forming fuse (TSFF) with interstage spark gap commutation and presents its application for forming high power pulses of extreme parameters. The paper classifies TSFF performance and compares it with conventional single-stage forming fuses. The conclusions are supported by analytical and experimental studies in laboratory...
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Integrated algorithm for selecting the location and control of energy storage units to improve the voltage level in distribution grids
PublikacjaThis paper refers to the issue that mainly appears in distribution grids, where renewable energy sources (RES) are widely installed. In such grids, one of the main problems is the coordination of energy production time with demand time, especially if photovoltaic energy sources are present. To face this problem, battery energy storage units (ESU) can be installed. In recent years, more and more attention has been paid to optimizing...
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High power, medium voltage, modular active power filtering system
Publikacja -
Cogenerative micro power plants - a new direction for development of power engineering?
PublikacjaW pracy przedstawiono rozważania dotyczące perspektywy mikrosiłowni domowych w gospodarce rozproszonej. Przedstawiono oryginalne kryterium doboru czynnika roboczego w mikrosiłowni oraz przedstawiono sprawności cieplne i egzergetyczne obiegów Clausiusa-Rankina realizujących pracę mikrosiłowni.
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Comparative study of neural networks used in modeling and control of dynamic systems
PublikacjaIn this paper, a diagonal recurrent neural network that contains two recurrent weights in the hidden layer is proposed for the designing of a synchronous generator control system. To demonstrate the superiority of the proposed neural network, a comparative study of performances, with two other neural network (1_DRNN) and the proposed second-order diagonal recurrent neural network (2_DRNN). Moreover, to confirm the superiority...
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The Issues of Reactive Power Compensation in High-voltage Transmission Lines
PublikacjaThis paper discusses the selection of compensation shunt reactors for a double-circuit 400 kV transmission line using the example of the newly built Elk Bis – Alytus transmission line. The analysis takes into account various conditions of the power system. The published results relate to voltage levels in steady states and during switching processes and short circuits.
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Thermodynamic Cycles of Air Microturbine Power Plants Working on Biomass Fuels
PublikacjaThe gas turbine engine is modified to work as an air turbine set which consists, in the simplest arrangement, of a compressor, a heat exchanger and a turbine. Air is a working medium for both: the compressor and the turbine. This kind of air turbine set can be applied in power plants working on biomass fuels. In this solution we can burn fuels of varying parameters in the external combustion chamber without any harmful effects...
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ADAPTIVE BACKSTEPPING TRACKING CONTROL FOR OVER-ACTUATED DP MARINE VESSEL WITH INERTIA UNCERTAINTIES
PublikacjaDesigning a tracking control system for an over-actuated dynamic positioning marine vessel in the case of insufficient information on environmental disturbances, hydrodynamic damping, Coriolis forces and vessel inertia characteristics is considered. The designed adaptive MIMO backstepping control law with control allocation is based on Lyapunov control theory for cascaded systems to guarantee stabilization of the marine vessel...
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Mean drift detection using statistical process control
PublikacjaCelem niniejszego rozdziału jest opisanie narzędzi statystycznej kontroli procesu (ang. Statistical Process Control - SPC), służących do detekcji dryfu wartości średniej w procesie. W oparciu o dane pochodzące z modelu: karty wartości średniej, odchylenia standardowego, karty oparte na testach sekwencyjnych oraz wykładniczo ważonej średniej ruchomej (ang. Exponentially Weighted Moving Average - EWMA), zostały porównane z punktu...
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ANFIS-Based NPC Population Control in Video Games
PublikacjaModern computer games aim at providing rich, vivid worlds. The aim is to encourage the player to explore and interact with the in-game world. To describe the complex relations between in-game NPCs and their surrounding fuzzy logic is used. The paper presents ANFIS based population control in the video game. We present an approach allowing stabilizing the number of NPCs in-game by providing a certain amount of food to the environment....
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Compact broadband multi-way 1:6 power divider
PublikacjaThis paper introduces a design flow of a microstrip multi-way 1:6 power divider incorporating photonic bandgap (PBG) structures. Themethod proposed has enabled the achievement of considerable miniaturization (15%) together with transmission characteristics enhancement(141% bandwidth). Measured results show significant similarity to theoretical characteristics, which proves the attractiveness of presented design methodology.
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HIERARCHICAL CYCLES IN MODERN POWER SYSTEMS – EXERGY ANALYSIS UNDER PART LOADS
PublikacjaThe aim of the paper is to investigate thermodynamic efficiency of advanced hierarchic power cyclesunder partial loads by using of exergy analyze. Advanced hierarchical power systems arecomposed of few energy conversion cycles, most common are steam and gas cycles in various configurations, but they may contain fuel cells, ORC, lithium bromide absorption chillers and others. Moreover hierarchical cycles can be powered by several...
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Performance analysis of power swing blocking feature in ABB 670 series impedance relays
PublikacjaThis paper presents test results of a distance protection’s PSD power swing detection feature in ABB 670 series relays. A RED670 relay was tested, which is part of the hydroelectric set protection in Żarnowiec Pumped Storage Plant. The power swing blocking feature’s performance was analysed on the basis of the results of object tests made with an Omicron digital tester. Also presented are simulation results that illustrate the...
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Low to intermediate energy elastic electron scattering from dichloromethane (CH2Cl2)
PublikacjaWe report a theoretical-experimental investigation of electron scattering by dichloromethane (CH2Cl2) in the low- and intermediate energy ranges. Experimental elastic differential cross sections (DCS), in the incident electron energy range of 0.5-800 eV and scattering angle range of 10°–130°, were measured using a crossed beam relative flow technique. Integral and momentum- transfer cross sections were determined from the experimental...
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The influence of a change in the meniscus cross-sectional shape on the medio-lateral translation of the knee joint and meniscal extrusion
PublikacjaObjective The purpose of this study was to evaluate the influence of a change in the meniscus cross sectional shape on its position and on the biomechanics of a knee joint. Methods One main finite element model of a left knee joint was created on the basis of MRI images. The model consisted of bones, articular cartilages, menisci and ligaments. Eight variants of this model with an increased or decreased meniscus height were then...
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Assessment of the Impact of GNSS Processing Strategies on the Long-Term Parameters of 20 Years IWV Time Series
PublikacjaAdvanced processing of collected global navigation satellite systems (GNSS) observations allows for the estimation of zenith tropospheric delay (ZTD), which in turn can be converted to the integrated water vapour (IWV). The proper estimation of GNSS IWV can be affected by the adopted GNSS processing strategy. To verify which of its elements cause deterioration and which improve the estimated GNSS IWV, we conducted eight reprocessings...
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The Influence of Binding Agents on Stiffness of Mineral-cement-emulsion Mixtures
PublikacjaThis paper attempts to determine the behavior of mineral-cement-emulsion mixture (MCE) under load, whether is it similar to asphalt mixtures (viscoelastic behavior) or to cement treated materials (elastic behavior). To answer this question nine mineral- cement-emulsion mixtures with different combinations of cement and emulsion content were tested in laboratory using Simple Performance Test (SPT). For each mixture stiffness moduli...
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Medical-Grade PCL Based Polyurethane System for FDM 3D Printing—Characterization and Fabrication
PublikacjaThe widespread use of three-dimensional (3D) printing technologies in medicine has contributed to the increased demand for 3D printing materials. In addition, new printing materials that are appearing in the industry do not provide a detailed material characterization. In this paper, we present the synthesis and characterization of polycaprolactone (PCL) based medical-grade thermoplastic polyurethanes, which are suitable for forming...
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Reconstruction of 3D image of corona discharge streamer
PublikacjaIn this paper, the method of reconstruction of the 3D structure of streamers in DC positive corona discharge in nozzle-to-plate electrode configuration is presented. For reconstructing of 3D image of corona discharge streamer we propose a stereographical method, where streamers are observed from several directions simultaneously. The multi-directional observation enabled to obtain fine positional coordinates of streamers for a...
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Numerical Study of the Impinging Jets Formed by an Injector with Different Nozzle Diameters
PublikacjaThe collision of two or more liquid jets may provide considerable atomisation and efficient mixing of injected substances at the same time. This phenomenon is used, among others, in rocket engines, where the fuel and oxidiser are introduced separately and almost immediately mixed through self-impingement. Depending on the injection and operating conditions, diverse configurations of impinging jets are used, such as doublets,...
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THREE-DIMENSIONAL numerical investigation of MHD nanofluid convective heat transfer inside a CUBIC porous container with corrugated bottom wall
PublikacjaSimultaneous use of porous media and nanofluid as a heat transfer improvement method has recently captivated a great deal of attention. The heat transfer and entropy production of the Cu-water nanofluid inside a cubic container with a heated bottom wavy wall and an elliptic inner cylinder were numerically analyzed in this study. The container is partitioned into two sections: the left side is filled with permeable media and...
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Multi-fidelity robust aerodynamic design optimization under mixed uncertainty
PublikacjaThe objective of this paper is to present a robust optimization algorithm for computationally efficient airfoil design under mixed (inherent and epistemic) uncertainty using a multi-fidelity approach. This algorithm exploits stochastic expansions derived from the Non-Intrusive Polynomial Chaos (NIPC) technique to create surrogate models utilized in the optimization process. A combined NIPC expansion approach is used, where both...
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Analysis of start energy of Stirling engine type alpha
PublikacjaThe Stirling engine type alpha is composed of two cylinders (expansion space E and compression space C), regenerator that forms the space between the cylinders and the buffer space (under the pistons). Before the start-up and as a result of long-term operation, the average pressure in the working space (above the pistons) and in the buffer space is the same. However, in the initial phase of operation, the average pressure in the...
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(R,R)-1-Acetyl-1'-(2,4,6-trinitrophenyl)-2,2'-bipyrrolidine
Publikacja(R,R)-1-Acetyl-1'-(2,4,6-trinitrophenyl)-2,2'-bipyrrolidine has been synthesized and its rentgenostructure has been determined. The structure of the title molecule, C16H19N5O7, is mainly determined by the steric effect of a bulky 2,4,6-trinitrophenyl group attached to the N atom of a pyrrolidine ring. Both pyrrolidine rings adopt an envelope conformation, with one of the methylene C atoms as the flap in each case, and the N-C-C-N...
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Scattering of electrons by a 1,2-butadiene (C4H6) molecule: measurements and calculations
PublikacjaWe present the results of experimental and theoretical study on electron collisions with a 1,2-butadiene (H2C=C=CHCH3) molecule. Absolute grand-total cross sections (TCSs) were measured using a linear electron-transmission method for collision energies in the 0.5–300 eV range. Two distinct features in the TCS energy curve were detected: a narrow peak located at 2.3 eV and a broad enhancement centered around 9 eV. We attributed...
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The long-term properties of mineral-cement-emulsion mixtures
PublikacjaThis publication presents evaluation of long-term behavior of mineral-cement-emulsion (MCE) mixtures. MCE mixtures are among the major products of cold recycling of old asphalt pavements. They are composed by binding of the old materials reclaimed from the pavement and new mineral aggregate using two different binding agents – cement and bituminous emulsion. While bituminous emulsion dissolutes and binds materials quite fast, it...
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Investigation method of large-volume tire with mobile test rig
PublikacjaThe goal of this research is to develop the tire test method and mobile tire test rig. The test rig enables measurement of tire properties as stiffness and viscous damping in vertical direction, and tire–ground characteristics on the asphalt rigid surface. The tire-ground characteristics are measured by force and a torque measurement hub. The design, calibration and the algorithm for calculating the forces in the wheel center are...
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Autogenous Fiber Laser Welding of 316L Austenitic and 2304 Lean Duplex Stainless Steels
PublikacjaThis study presents results of experimental tests on quality of dissimilar welded joints between 316L austenitic and 2304 lean duplex stainless steels, welded without ceramic backing. Fiber laser welded butt joints at a thickness of 8 mm were subjected to non‐destructive testing (visual and penetrant), destructive testing (static tensile test, bending test, and microhardness measurements) and structure observations (macro‐ and...
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Biological and mechanical properties of bone cement with nanoarticles - in vitro and in vivo research
PublikacjaDespite antibiotic preventive treatment both before and after implant implementation, the risks of infection are real. These infections develop at the implant surface a few months after inserting them into the body. To prevent the development of bacteria and reduce the risk of infection, implants coated with nanoparticles are used. The Mechanical Department of the Technical University of Gdansk carries out research into using bone...
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Ultrasensitive electrochemical determination of the cancer biomarker protein sPD-L1 based on a BMS-8-modified gold electrode
PublikacjaThis work describes the modification of a gold electrode with the BMS-8 compound that interacts with the Programmed Death-Ligand 1 (PD-L1), an immune checkpoint protein. The results show that we can confirm the presence of the sPD-L1 in the concentration range of 10−18 to 10−8 M using electrochemical impedance spectroscopy (EIS) with a limit of detection (LOD) of 1.87 × 10−14 M for PD-L1 (S/N = 3.3) and at a concentration of 10−14...
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Multi-objective optimization of the cavitation generation unit structure of an advanced rotational hydrodynamic cavitation reactor
PublikacjaHydrodynamic cavitation (HC) has been widely considered a promising technique for industrial-scale process intensifications. The effectiveness of HC is determined by the performance of hydrodynamic cavitation reactors (HCRs). The advanced rotational HCRs (ARHCRs) proposed recently have shown superior performance in various applications, while the research on the structural optimization is still absent. The present study, for the...
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Computational and experimental evaluation of view out according to European Standard EN17037.
PublikacjaThis paper presents an experimental evaluation of view out based on EN17037:2018 Daylight in Buildings within an educational building. The primary motivation to conduct the research was an introduction of a view out appraisal criteria by the mentioned standard. The study gives insights into the following: (i) the use of computational evaluation of an outside view according to the EN17037 criteria (ii) the use of the direct simultaneous...
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Preparation and properties of composite coatings, based on carbon nanotubes, for medical applications
PublikacjaThe coatings based on carbon nanotubes (CNTs) are increasingly developed for their applications, among others, in medicine, in particular for implants in implantology, cardiology, and neurology. The present review paper aims at a detailed demonstration of diferent preparation methods for such coatings, their performance, and relationships between deposition parameters and microstructure and material, mechanical, physical, chemical,...
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Poly-L-Lysine-functionalized fluorescent diamond particles: pH triggered fluorescence enhancement via surface charge modulation
PublikacjaRecently, the interest in applying fluorescent diamond particles (FDPs) containing nitrogen-vacancy (NV) centers for enhancing the mechanical and chemical properties of some materials, biological imaging, and sensing has been expanding rapidly. The unique properties of NV centers such as intensive, time-stable fluorescence, and an electron spin, which exhibits long coherence time and may be manipulated using external stimuli, such...
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Thermal Energy Storage with PCMs in Shell-and-Tube Units: A Review
PublikacjaThe paper presents a survey of the experimental and numerical studies of shell-and-tube systems in which phase change material (PCM) is used. Due to the multitude of design solutions for shell-and-tube systems, the emphasis is placed on double-tube (DT), triplex-tube (TT), and multitube (MT) units. Additionally, only single-pass systems are considered. Particular attention is paid to the method of heat transfer intensification....
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The fracture behaviour of notched PMMA specimens under simple loading conditions – Tension and torsion experimental tests
PublikacjaThis paper presents the results of experimental testing of flat PMMA specimens during uniaxial loading conditions. Two separate tests were conducted: tensile and torsion. The specimens were weakened with V-type edge notches with different root radii: 0.5; 2 and 10 mm. The specimens were made in two thickness variants: 5 and 15 mm. Monotonic tensile and torsion tests were carried out while keeping the averaged strain rate constant,...
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Influence of Surface-Modified Montmorillonite Clays on the Properties of Elastomeric Thin Layer Nanocomposites
PublikacjaIn recent years, polyurethane nanocomposites have attracted more attention due to the massive demand for materials with increasingly exceptional mechanical, optical, electrical, and thermal properties. As nanofillers have a high surface area, the interaction between the nanofiller and the polymer matrix is an essential issue for these materials. The main aim of this study is to validate the impact of the montmorillonite nanofiller...
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Comparative 3D DEM simulations of sand–structure interfaces with similarly shaped clumps versus spheres with contact moments.
PublikacjaThree-dimensional simulations of a monotonic quasi-static interface behaviour between initially dense cohesionless sand and a rigid wall of different roughness during tests in a parallelly guided direct shear test under constant normal stress are presented. Numerical modelling was carried out by the discrete element method (DEM) using clumps in the form of convex non-symmetric irregularly shaped grains. The clumps had an aspect...
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Automatic tuning of a resonant circuit in wireless power supply systems for biomedical sensors
PublikacjaIn this paper, a tuning method of a resonant circuit suited for wireless powering of miniature endoscopic capsules is presented and discussed. The method allows for an automatic tuning of the resonant frequency and matching impedance of a full wave rectifier loading the resonant circuit. Thereby, the receiver tunes so as to obtain the highest power efficiency under given conditions of transmission. A prototype receiver for wireless...
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Model Predictive Super-Twisting Sliding Mode Control for An Autonomous Surface Vehicle
PublikacjaThis paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the time-varying external disturbances including winds, waves and ocean currents as well as dynamical uncertainties. For fulfilling the robustness property, a sliding mode control-based procedure for designing of MPC and a super-twisting term are adopted. The MPC algorithm has been...